version: 66.13
glider: 133
mission: 5
dive: 62
start: 3 16 117 5 54 37
data:
$ID,133
$MISSION,5
$DIVE,62
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,360
$T_MISSION,420
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,54382
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0034
$HD_B,0.0082
$HD_C,4.2000001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,150
$PITCH_MAX,3830
$C_PITCH,3170
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,15
$PITCH_TIMEOUT,30
$PITCH_AD_RATE,100
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,157
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,2600
$C_ROLL_CLIMB,2310
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,103
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3960
$C_VBD,3101
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-18.083
$PRESSURE_SLOPE,0.00011564888
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.090000004
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043768995
$SEABIRD_T_H,0.00063528348
$SEABIRD_T_I,2.4782157e-05
$SEABIRD_T_J,2.6511516e-06
$SEABIRD_C_G,-9.8739452
$SEABIRD_C_H,1.0990992
$SEABIRD_C_I,-0.0013875214
$SEABIRD_C_J,0.00019236583
$GPS1,160317,054909,1404.5400,6055.2354,27,1.1,31,-0.7,0.0,0.0,8,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-67.7
$GPS2,160317,055404,1404.5422,6055.2207,16,1.0,20,-0.7,0.3,295.5,9,9.6
$SPEED_LIMITS,0.159,0.279
$TGT_NAME,SG133_TGT
$TGT_LATLONG,1413.217,6057.369
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,19.8,16522,-15.3,-9.167,-18.21,2446
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-1.20,-146.0,141,2603,1213,1304,0.0,0.0,0,73,0.00,0.00,-64.32,0.000,16386,0.000,0.000,141,2603,3554,3603,3506,0,0,0,0,0,0,14.95,28.83,14.97
$GC,75,-1.20,-146.0,141,2603,3603,3507,3.2,-6.1,11,96,13.52,2.15,-2.00,0.000,18724,0.423,2.088,2893,3798,3701,3726,3676,0,0,0,0,0,0,14.53,13.94,14.70
$GC,143,-1.20,-146.0,2893,3798,3726,3680,19.9,-13.5,23,150,0.00,1.77,0.00,0.000,1030,0.000,0.023,2893,2568,3703,3726,3680,0,0,0,0,0,0,14.82,14.79,14.83
$GC,451,-1.20,-146.0,2893,2567,3726,3681,56.0,-11.4,79,455,0.00,2.00,0.00,0.000,260,0.000,0.057,2886,3801,3703,3726,3681,0,0,0,0,0,0,15.04,14.83,15.06
$GC,504,-1.20,-146.0,2885,3801,3726,3681,62.9,-12.2,90,513,0.08,1.75,0.00,0.000,3078,0.212,0.022,2906,2609,3703,3726,3681,0,0,0,0,0,0,14.71,14.86,14.82
$GC,812,-1.24,-146.0,2907,2609,3726,3683,96.1,-10.3,121,816,0.00,2.08,0.00,0.000,644,0.000,0.026,2907,1247,3704,3726,3683,0,0,0,0,0,0,15.10,14.92,15.12
$GC,854,-1.31,-146.0,2907,1229,3726,3683,100.3,-10.1,129,862,0.00,2.12,0.00,0.000,1158,0.000,0.036,2900,2598,3704,3726,3683,0,0,0,0,0,0,14.96,14.90,14.97
$GC,1164,-1.38,-146.0,2900,2598,3726,3685,131.5,-10.4,161,1168,0.12,1.95,0.00,0.000,4484,0.129,0.054,2817,3813,3705,3726,3684,0,0,0,0,0,0,14.95,14.92,14.97
$GC,1256,-1.28,-146.0,2816,3814,3726,3684,143.5,-13.0,179,1261,0.28,1.73,0.00,0.000,3206,0.247,0.022,2887,2588,3705,3726,3684,0,0,0,0,0,0,14.82,14.99,14.98
$GC,1568,-1.34,-146.0,2886,2588,3727,3687,174.8,-9.4,211,1572,0.00,1.98,0.00,0.000,388,0.000,0.057,2880,3809,3706,3726,3687,0,0,0,0,0,0,15.16,14.95,15.19
$GC,1720,-1.41,-146.0,2880,3809,3726,3687,189.0,-8.7,241,1723,0.00,1.70,0.00,0.000,1190,0.000,0.022,2880,2594,3707,3727,3687,0,0,0,0,0,0,15.04,15.02,15.05
$GC,2031,-1.48,-146.0,2880,2594,3726,3687,217.9,-9.3,273,2040,0.12,2.00,0.00,0.000,4740,0.128,0.023,2806,1256,3706,3726,3687,0,0,0,0,0,0,14.99,15.00,15.01
$GC,2073,-1.44,-146.0,2806,1256,3726,3687,222.5,-11.6,281,2082,0.22,2.08,0.00,0.000,3206,0.265,0.036,2852,2602,3707,3727,3687,0,0,0,0,0,0,14.83,14.97,15.00
$GC,2403,-1.48,-146.0,2852,2602,3726,3687,253.6,-9.3,313,2406,0.00,2.03,0.00,0.000,644,0.000,0.026,2853,1266,3706,3726,3687,0,0,0,0,0,0,15.19,15.00,15.21
$GC,2426,-1.53,-146.0,2853,1253,3726,3687,256.1,-9.9,318,2433,0.00,2.10,0.00,0.000,1158,0.000,0.036,2847,2607,3706,3726,3687,0,0,0,0,0,0,15.04,15.00,15.06
$GC,2734,-1.56,-146.0,2847,2608,3723,3687,284.0,-9.1,329,2736,0.00,0.00,0.00,0.000,166,0.000,0.000,2848,2608,3705,3724,3687,0,0,0,0,0,0,15.20,15.22,15.22
$GC,3033,-1.60,-146.0,2846,2608,3721,3687,314.1,-10.1,339,3038,0.10,2.05,0.00,0.000,4740,0.146,0.024,2793,1253,3703,3720,3687,0,0,0,0,0,0,15.02,15.03,15.07
$GC,3104,-1.57,-146.0,2793,1253,3720,3687,322.5,-11.6,353,3109,0.17,2.10,0.00,0.000,3206,0.278,0.036,2827,2608,3703,3720,3687,0,0,0,0,0,0,14.88,15.01,15.04
$GC,3416,-1.57,-146.0,2826,2608,3716,3687,353.1,-9.2,365,3420,0.00,1.92,0.00,0.000,260,0.000,0.058,2820,3813,3701,3716,3687,0,0,0,0,0,0,15.22,15.01,15.24
$GC,3449,-1.57,-146.0,2819,3814,3715,3687,356.4,-9.6,372,3455,0.00,1.75,0.00,0.000,1030,0.000,0.023,2819,2619,3701,3715,3687,0,0,0,0,0,0,15.07,15.06,15.09
$GC,3776,-1.57,-146.0,2819,2619,3712,3687,387.3,-9.7,387,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2618,3699,3712,3687,0,0,0,0,0,0,15.22,15.24,15.24
$GC,4077,-1.57,-146.0,2819,2619,3708,3687,417.3,-10.2,397,4078,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2619,3698,3709,3687,0,0,0,0,0,0,15.23,15.25,15.25
$GC,4376,-1.57,-146.0,2819,2618,3707,3684,448.1,-10.4,407,4380,0.00,1.92,0.00,0.000,260,0.000,0.057,2813,3814,3695,3707,3684,0,0,0,0,0,0,15.23,15.02,15.25
$GC,4426,-1.57,-146.0,2813,3814,3707,3683,453.5,-10.9,417,4429,0.00,1.75,0.00,0.000,1030,0.000,0.024,2813,2589,3695,3707,3683,0,0,0,0,0,0,15.09,15.07,15.11
$GC,4737,-1.57,-146.0,2813,2589,3705,3682,485.9,-10.3,429,4738,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2589,3693,3705,3682,0,0,0,0,0,0,15.23,15.26,15.25
$GC,5037,-1.57,-146.0,2813,2589,3704,3680,517.7,-10.8,439,5041,0.00,1.98,0.00,0.000,260,0.000,0.057,2806,3814,3692,3704,3680,0,0,0,0,0,0,15.23,15.02,15.25
$GC,5097,-1.57,-146.0,2806,3815,3704,3679,524.6,-11.5,451,5102,0.10,1.75,0.00,0.000,3078,0.256,0.024,2827,2594,3691,3703,3679,0,0,0,0,0,0,14.90,15.07,15.05
$GC,5429,-1.60,-146.0,2826,2594,3701,3678,558.6,-9.9,467,5430,0.00,0.00,0.00,0.000,134,0.000,0.000,2827,2594,3689,3701,3678,0,0,0,0,0,0,15.23,15.25,15.25
$GC,5729,-1.64,-146.0,2827,2594,3700,3677,586.8,-9.3,477,5733,0.00,1.98,0.00,0.000,388,0.000,0.057,2819,3819,3688,3700,3677,0,0,0,0,0,0,15.23,15.02,15.25
$GC,5778,-1.64,-146.0,2819,3818,3700,3677,591.9,-10.1,487,5782,0.00,1.80,0.00,0.000,1030,0.000,0.024,2819,2600,3688,3700,3677,0,0,0,0,0,0,15.08,15.06,15.09
$GC,6090,-1.68,-146.0,2819,2599,3698,3675,621.3,-9.4,499,6094,0.00,2.05,0.00,0.000,644,0.000,0.027,2820,1250,3686,3699,3674,0,0,0,0,0,0,15.23,15.04,15.25
$GC,6121,-1.68,-146.0,2819,1239,3698,3674,624.2,-9.5,505,6125,0.00,2.12,0.00,0.000,1030,0.000,0.036,2814,2605,3685,3698,3673,0,0,0,0,0,0,15.08,15.02,15.09
$GC,6447,-1.68,-146.0,2814,2605,3696,3674,655.9,-9.7,520,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2605,3685,3696,3674,0,0,0,0,0,0,15.23,15.25,15.25
$GC,6746,-1.68,-146.0,2814,2605,3695,3672,685.6,-10.0,530,6748,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2605,3683,3695,3672,0,0,0,0,0,0,15.23,15.25,15.25
$GC,7047,-1.68,-146.0,2814,2605,3695,3671,716.3,-10.3,540,7052,0.00,1.95,0.00,0.000,260,0.000,0.058,2805,3814,3683,3695,3671,0,0,0,0,0,0,15.23,15.02,15.25
$GC,7097,-1.68,-146.0,2805,3814,3695,3670,722.0,-11.6,550,7101,0.00,1.80,0.00,0.000,1030,0.000,0.024,2805,2597,3682,3695,3670,0,0,0,0,0,0,15.07,15.06,15.09
$GC,7408,-1.68,-146.0,2804,2597,3692,3670,756.0,-11.1,562,7412,0.00,2.05,0.00,0.000,516,0.000,0.028,2805,1254,3681,3692,3670,0,0,0,0,0,0,15.23,15.04,15.25
$GC,7442,-1.68,-146.0,2804,1240,3692,3669,759.9,-11.1,569,7446,0.00,2.12,0.00,0.000,1030,0.000,0.036,2797,2603,3680,3692,3669,0,0,0,0,0,0,15.08,15.02,15.09
$GC,7769,-1.68,-146.0,2797,2602,3691,3668,796.1,-10.9,584,7773,0.00,2.08,0.00,0.000,516,0.000,0.027,2797,1237,3679,3691,3668,0,0,0,0,0,0,15.22,15.04,15.24
$GC,7800,-1.68,-146.0,2797,1237,3691,3668,799.4,-10.8,590,7804,0.00,2.12,0.00,0.000,1030,0.000,0.036,2789,2601,3679,3691,3668,0,0,0,0,0,0,15.08,15.02,15.09
$GC,8126,-1.68,-146.0,2789,2602,3690,3667,833.6,-10.1,605,8129,0.00,1.95,0.00,0.000,260,0.000,0.058,2781,3815,3678,3690,3667,0,0,0,0,0,0,15.22,15.01,15.24
$GC,8210,-1.63,-146.0,2781,3815,3690,3666,842.9,-11.2,622,8217,0.15,1.77,0.00,0.000,3206,0.269,0.024,2814,2591,3678,3690,3666,0,0,0,0,0,0,14.88,15.07,15.04
$GC,8518,-1.67,-146.0,2814,2591,3688,3666,870.7,-9.1,633,8521,0.00,2.00,0.00,0.000,420,0.000,0.058,2807,3814,3676,3687,3666,0,0,0,0,0,0,15.21,15.00,15.23
$GC,8548,-1.67,-146.0,2807,3814,3687,3666,874.0,-11.0,639,8552,0.00,1.75,0.00,0.000,1030,0.000,0.026,2807,2602,3676,3687,3666,0,0,0,0,0,0,15.09,15.06,15.09
$GC,8879,-1.67,-146.0,2807,2601,3687,3665,905.9,-9.7,655,8883,0.00,2.08,0.00,0.000,516,0.000,0.028,2807,1241,3675,3686,3665,0,0,0,0,0,0,15.22,15.04,15.24
$GC,8902,-1.67,-146.0,2807,1241,3686,3664,908.7,-10.2,660,8910,0.00,2.15,0.00,0.000,1030,0.000,0.037,2799,2613,3676,3687,3665,0,0,0,0,0,0,15.07,15.01,15.09
$GC,9209,-1.67,-146.0,2799,2613,3685,3665,939.1,-9.7,671,9213,0.00,1.92,0.00,0.000,260,0.000,0.058,2790,3812,3674,3685,3664,0,0,0,0,0,0,15.21,15.00,15.23
$GC,9270,-1.67,-146.0,2790,3812,3685,3664,945.1,-10.2,683,9274,0.00,1.75,0.00,0.000,1030,0.000,0.026,2790,2602,3674,3685,3664,0,0,0,0,0,0,15.09,15.05,15.09
$GC,9601,-1.67,-146.0,2789,2602,3684,3663,974.1,-8.6,699,9604,0.00,1.95,0.00,0.000,292,0.000,0.058,2782,3810,3673,3684,3663,0,0,0,0,0,0,15.21,15.00,15.23
$GC,9634,-1.64,-146.0,2782,3809,3684,3663,977.3,-8.0,706,9639,0.10,1.80,0.00,0.000,3238,0.246,0.026,2809,2609,3673,3684,3663,0,0,0,0,0,0,14.85,15.04,15.06
$STATE,9810,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9810,begin apogee
$GC,9814,-0.33,0.0,2809,2280,3684,3662,991.1,-7.8,716,9952,1.00,0.00,134.25,2.034,10246,0.216,0.000,3099,2279,3100,3080,3120,0,0,0,0,0,0,14.88,14.17,13.50
$STATE,9953,end apogee,CONTROL_FINISHED_OK
$STATE,9953,begin climb
$GC,9954,1.20,146.0,3099,2279,3075,3117,991.6,0.0,720,10106,1.05,2.15,142.85,2.008,10756,0.109,0.034,3444,992,2498,2449,2548,0,0,0,0,0,0,14.17,13.96,13.43
$GC,10187,1.02,146.0,3443,992,2443,2534,971.3,13.7,771,10192,0.22,2.15,0.00,0.000,5254,0.290,0.035,3395,2311,2488,2443,2534,0,0,0,0,0,0,14.28,14.44,14.45
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$STATE,19910,end climb,SURFACE_DEPTH_REACHED
$STATE,19910,begin surface coast
$FINISH,0.6,1.023804
$STATE,19938,end surface coast,CONTROL_FINISHED_OK
$STATE,19938,begin surface
$SM_CCo,19954,53.38,0.081,0,0,1265,450.12
$SM_GC,1.23,9.38,0.47,53.38,0.075,0.061,0.081,144,2611,1265,-13.86,-1.07,450.12,0,0,0,0,0,0,14.83,14.88,14.82
$IRIDIUM_FIX,1358.61,6101.91,160317,003805
$TT8_MAMPS,0.023968,0.205975
$HUMID,47.28
$INTERNAL_PRESSURE,8.98261
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,13.43,15.845
$10V_AH,13.30,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.200,160.675,452.575,53.375,0.000,0.000,0.000,205.950,0.000,0.000,22.318,2971.988,14252.988,625.500,2338.275,121.920,0.000,2031.740,0.000,2087.530,0.000,0.548,0.000
$DEVICE_MAMPS,423.045,2088.450,2034.135,81.090,0.000,0.000,0.000,157.590,420.000,0.000,19.470,8.820,2.190,8.820,28.290,32.780,0.000,15.900,0.000,6.740,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,727.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,75.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,193876
$DATA_FILE_SIZE,63358,1468
$CAP_FILE_SIZE,179748,0
$CFSIZE,260034560,254287872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,18269.23,0x213b14,1,24
$CURRENT,0.053,356.40,1
$GPS,160317,112907,1407.896,6056.345,25,0.9,27,-0.6,0.3,0.0,9,9.0